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\author{$BEl5~Bg3X!!>pJsM}9)3X7O8&5f2J!!0pMU8&5f<<(B}
\title{$B%(%C%8%Y!<%9Fs<!85BP>]J*G'<1%b%8%e!<%k(B(AppRecog)}
%\date{2010/4/10}

\begin{document}
\setlength{\baselineskip}{1.5zw}

\maketitle

%\tableofcontents

\section{$B35MW(B}

$B2hA|$+$iFs<!85E*$KBP>]J*$rG'<1!$$=$N0LCV!$;Q@*$*$h$S%9%1!<%k$r=PNO$9$k%b%8%e!<%k$G$9!%(B
$BDL>o!$%+%a%i=PNO6&DL(BI/F$B$G2hA|$*$h$S!$%+%a%i%Q%i%a!<%?$r=PNO$9$k%+%a%i%b(B
$B%8%e!<%k$HAH$_9g$o$;$FMxMQ$7$^$9!%(B

http://openrtm.org/openrtm/ja/project/NEDO\_Intelligent\_PRJ\_HiroAccPrj\_5002

\section{$B%@%&%s%m!<%I$H%3%s%Q%$%k(B}

https://code.google.com/p/app-recog/
$B$+$i%@%&%s%m!<%I$7$^$9!%(B
\begin{lstlisting}
 $ tar xvfz AppRecog-0.1.0.tgz
 $ cd app-recog
 $ make
\end{lstlisting}

\section{$B3+H/!&F0:n4D6-(B}

\begin{itemize}
 \item Ubuntu Linux 10.04 LTS
 \item OpenRTM-aist 1.0.0-RELEASE C++$BHG(B
 \item OpenCV 2.3
\end{itemize}
 OpenCV$B$N%P!<%8%g%s$KCm0U$7$F$/$@$5$$!%(B

\section{$B%$%s%?%U%'!<%9(B}

\begin{itemize}
 \item $B%G!<%?%]!<%H(B
       \begin{itemize}
	\item $BF~NO(B: Img::TimedCameraImage (Img.idl) \\
	      $B2hA|=PNO6&DL%$%s%?%U%'!<%9=`5r$N%+%a%i%b%8%e!<%k$+$i!$(B
	      $B2hA|5Z$S!$%+%a%i%Q%i%a!<%?$r<u<h$j$^$9!%(B
	\item $B=PNO(B: TimedRecognitionResult (Vision.idl) \\
	      $BG'<17k2L6&DL%$%s%?%U%'!<%9$K$7$?$,$$!$BP>]J*BN$N0LCV;Q@*$r=PNO$7$^$9!%(B
	      Img::TimedCameraImage $B=hM}7k2L$r2hA|$H$7$F=PNO$7$^$9!%(B
       \end{itemize}
 \item $B%5!<%S%9%]!<%H(B \\
       $BG'<1BP>]$N%b%G%k$r@_Dj$9$k$?$a$K;H$$$^$9!%(B
       $B$"$i$+$8$a!%(BModelFiles/ModelList.txt$B$K%b%G%k(BID$B$H%b%G%kDj5A%U%!%$(B
       $B%kL>$r5-=R$7!$%b%G%k(BID$B$r0z?t$H$7$F%5!<%S%9%3!<%k$r9T$$$^$9!%(B
       setModelID(i)$B$O!$(Bi$BHV$N%b%G%k$r;HMQ$9$k$3$H$r0UL#$7$^$9!%(B
\end{itemize}
 $BG'<17k2L$O(BTimedRecognitionResult$B$K$h$C$F=PNO$5$l$^$9!%(B
 $B6qBNE*$J=PNOFbMF$O0J2<$NDL$j$G$9!%8=:_!$BP>]J*$N;Q@*0J30$OF~$C$F$$$^(B
 $B$;$s!%(B
\begin{verbatim}
  0: 0, 1: 0, 2: 0, 3: 0, 4: 0
  5: 0, 6: 0, 7: 0, 
  8: R00,  9: R01, 10: R02, 11: Tx
 12: R10, 13: R11, 14: R12, 15: Ty
 16: R20, 17: R21, 18: R22, 19: Tz
\end{verbatim}

\section{$B>\:Y@bL@(B}

$BM?$($i$l$?%b%G%k$H!$2hA|$+$iCj=P$7$?%(%C%8$N(BChamfer$B%^%C%A%s%0$K$h$jN`;wEY$r(B
$BI>2A$7$^$9!%$=$7$F!$N3;R72:GE,2=$K$h$jN`;wEY$,:GBg$N0LCV!$;Q@*!$%9%1!<%k(B
$B$r=PNO$7$^$9!%(B
$BO"B3E*$KAw$i$l$F$/$k2hA|$KBP$7$FG'<1$r9T$$$^$9$,!$G'<17k2L$N;~4VJ}8~$NO"B3@-(B
$B$O9MN8$;$:!$3F%U%l!<%`$G0lHVL`EY$,9b$$0LCV$r7W;;$7!$$=$NL`EY$,ogCM0J>e$G(B
$B$"$l$P8!=P7k2L$rJV$7$^$9!%;XDj$7$?ogCM0J2<$N>l9g$O!$G'<17k2L$O=PNO$7$^$;(B
$B$s!%(B

% $BogCM$N0UL#$K$D$$$F(B
% $B%5!<%S%9$K$h$kG'<1BP>]$N@Z$jBX$((B
% $BG'<1%b%8%e!<%k$K$*$1$kBP>]J*%b%G%k$NDj5A$N;EJ}(B

$B%b%G%k$H<B2hA|$N%^%C%A%s%0$O!$2hA|>e$G9T$o$l$^$9!%8!=P$7$?0LCV!$;Q@*!$%9(B
$B%1!<%k$+$i%+%a%i%Q%i%a!<%?$rMQ$$$F!$%+%a%i:BI87O$K$*$1$kBP>]J*$N0L(B
$BCV!$;Q@*$,7W;;$5$l$^$9!%(B
$B%+%a%i%Q%i%a!<%?$O%G!<%?%]!<%H$rDL$7$F2hA|$H0l=o$KAw$i$l$F$/$k$b(B
$B$N$r;HMQ$7$^$9!%@5$7$$%+%a%i%Q%i%a!<%?$,F~$C$F$$$J$$>l9g$bBP>]J*$N8!=P(B
$B$O$G$-$^$9$,!$=PNO$5$l$k7k2L$O@53N$G$O$"$j$^$;$s!%(B
$B2hA|:BI8$G$N(B$(x,y,\theta, s)$$B$NC5:wHO0O!$8!=P$NogCM$O!$(B
$B%3%s%U%#%0%U%!%$%k(BAppRecog.conf$B$G;XDj$G$-$^$9!%(B
$B$^$?!$%b%G%kDj5A%U%!%$%k$O(BModelFile$B%G%#%l%/%H%j$NCf$KCV$-!$%U%!%$%k$OD:(B
$BE@$HJU$K$h$C$FI=8=$5$l$k%(%C%8$H!$1_$+$i$J$j$^$9!%(B

\begin{figure}[tb]
 \begin{center}
  \includegraphics[width=0.8\linewidth]{figure/apprecog.png}
  \caption{$BG'<1Nc(B}
  \label{fig:apprecog}
 \end{center}
\end{figure}

\section{$B<B9T$*$h$S%F%9%H(B}

$B$^$:!$2hA|$r%-%c%W%A%c$9$k%b%8%e!<%k$rMQ0U$7$^$9!%(B

  \subsection{$B%+%a%i6&DL(BI/F$B=`5r$N2hA|%-%c%W%A%c%b%8%e!<%k(B(CameraComp)}

  $B0J2<$N(Bweb$B$+$i!$Bg:eBg3X$K$h$j3+H/$5$l2hA|%-%c%W%A%c%b%8%e!<%k(B
  CameraComp$B$r%@%&%s%m!<%I!$%3%s%Q%$%k$7$^$9!%%m%02hA|$K$h$k%F%9%H$r9T$&(B
  $B$?$a!$(BLoadPictureComp$B%b%8%e!<%k$bF1MM$K%@%&%s%m!<%I$7$^$9!%(B

  http://www-arailab.sys.es.osaka-u.ac.jp/CameraIF/

  \subsection{$B%+%a%i$rMQ$$$?G'<1(B}

  $B<B:]$K%+%a%i%b%8%e!<%k$H@\B3$7!$%*%s%i%$%s$G%F%9%H$r9T$$$^$9!%(B
  $B$3$N$H$-$N%b%8%e!<%k@\B3$O(B\figref{fig:test_by_camera}$B$N$h$&$K$J$j!$(B
  $B<B9T<j=g$O!$0J2<$NDL$j$G$9!%(B
  \begin{enumerate}
   \item $BG'<1%b%8%e!<%k(BAppRecog$B$H%-%c%W%A%c%b%8%e!<%k$r$=$l$>$l<B9T(B
   \item rtshell$B$G2hA|$NF~=PNO$r@\B3(B(system editor$B>e$GA`:n$7$F$b$h$$(B)
   \item 2$B$D$N(BRTC$B$r(Bactivate
  \end{enumerate}

  \begin{lstlisting}
   $ cd CameraComp
   $ ./CaptureCameraComp
   $BJLC<Kv$G(B
   $ cd app-recog/
   $ build/bin/AppRecogComp
   $BJLC<Kv$G!J(Brtctree$B$G$N%Q%9$OE,Ev$KJd40$9$k!K(B
   $ rtcon CaptureCamera0.rtc:CameraImage AppRecog0.rtc:InputImage
   $ rtact CaptureCamera0.rtc AppRecog0.rtc
  \end{lstlisting}

  $B=i4|@_Dj$GG'<1HO0O$N%9%1!<%k$,9J$C$F$"$k$?$a!$G'<1$G$-$J$$>l9g$O(B
  $BBP>]J*$^$G$N5wN%$r$$$m$$$mJQ$($F$_$F$/$@$5$$!%(B
  $B$^$?!$GX7J$KLOMM$,$J$/!$BP>]J*$H0[$J$k?'$N$b$N$rCV$/$HG'<1$7$d$9$/$J$j(B
  $B$^$9!%(B

  \begin{figure}[tbh]
   \begin{center}
    \includegraphics[width=0.8\linewidth]{figure/recog_test_cam.png}
    \caption{USB$B%+%a%i$rMQ$$$?>l9g$N@\B3?^(B}
    \label{fig:test_by_camera}
   \end{center}
  \end{figure}


  \subsection{$B%m%02hA|$rMQ$$$?G'<1(B}

  $B%+%a%i%b%8%e!<%k$r(BLoadPictureComp$B%b%8%e!<%k$K:9$7BX$($k$3$H$G!$(B
  $B$"$i$+$8$a;#$C$F$*$$$?2hA|$rMQ$$$F%F%9%H$r9T$&$3$H$,$G$-$^$9!%(B
  RTC$B$N@\B3$O!$(BCaptureCameraComp$B$r(BLoadPictureComp$B$KCV$-49$($?$b$N$H$J$j$^$9!%(B
  $B%m%02hA|$N;XDj$O!$(BLoadPictureComp$B%b%8%e!<%k$N(BLoadPicture.conf$B$G9T$$$^(B
  $B$9!%$^$:!$(BAppRecog$B%b%8%e!<%kIUB0$N2hA|(Bdata/parts4.jpg$B$r(BLoadPictureComp
  $B$N%G%#%l%/%H%j$K%3%T!<$7!$0J2<$N$h$&$K(BLoadPictureComp$B$,FI$_9~$`$h$&$K(B
  $B@_Dj$7$F$/$@$5$$!%(B

  LoadPicture.conf$B$GFI$_9~$`2hA|$r;XDj$9$k$K$O!$(Brtc.conf$B$K(B
\begin{verbatim}
Processing Module.LoadPicture.config_file: LoadPicture.conf
\end{verbatim}
$B$r!$(BLoadPicture.conf$B$K(B
\begin{verbatim}
conf.default.string_file_name: parts4.jpg
\end{verbatim}
$B$r5-=R$7$^$9!%(Bparts4.jpg$B$OFI9~$_$?$$%U%!%$%k$NL>A0$r=q$-$^$9!%(B
$B@5$7$/F0:n$7$F$$$l$P!$(B\figref{fig:apprecog}$B!J:8!K$N$h$&$J%&%#%s%I%&$,I=(B
$B<($5$l$^$9!%(B

$B<!$K!$%5!<%S%9$rMxMQ$7$FG'<1BP>]$N@Z$jBX$($r9T$$$^$9!%(B
$B0lEY!$<B9T$7$F$$$k%3%s%]!<%M%s%H$r=*N;$5$;$?8e!$0J2<$N@_Dj$r9T$J$C$F$/$@(B
$B$5$$!%(B

\begin{enumerate}
 \item LoadPicture.conf$B$GFI$_9~$`2hA|$r!$(Bpiece\_red.jpg$B$K$9$k(B \\
       $B!J2hA|$O>e$HF1MM$K(BLoadPictureComp$B%G%#%l%/%H%j$K%3%T!<$7$F$*$-$^(B
       $B$9!K!%(B
 \item AppRecog$B$K$*$1$k8!=PogCM$r2<$2$^$9!%(BAppRecong.conf$B$G(B
       \begin{verbatim}
	conf.default.detection_threshold: 80.0
       \end{verbatim}
       $B$H$7$^$9!%(B
\end{enumerate}
$B$3$3$^$G@_Dj$r$7$?8e!$(BLoadPictureComp$B$H(BAppRecogComp$B$r5/F0!$%]!<%H$N@\(B
$BB3!$(Bactivate$B$r9T$$$^$9!%$3$N>uBV$G!$(Bparts$B$rG'<1$9$k@_Dj$K$J$C$F$$$^$9!%(B
$B<!$K!$%5!<%S%9$GG'<1BP>]$rJQ99$9$k$?$a!$IUB0$N%F%9%HMQ%/%i%$%"%s%H$r5/F0(B
$B$7!$(BRTC$B$N@\B3!$(Bactivate$B$r9T$C$?8e!$%/%i%$%"%s%H$GG'<1BP>]$NJQ99$r9T$$$^$9!%(B
\begin{lstlisting}
 $ build/bin/AppRecogComp
 $BJLC<Kv$G(B
 $ rtcon AppRecog0.rtc:Recognition AppRecogConsumer0.rtc:RecognitionService 
 $ rtact AppRecogConsumer0.rtc

 Command list:
  getModelID        : get current model ID.
  setModelID [value]: set model ID.
 > setModelID 2
\end{lstlisting}

% \addcontentsline{toc}{chapter}{$B;29MJ88%(B}
% \markboth{$B;29MJ88%(B}{$B;29MJ88%(B}
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